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Lec 13
Lec 13
Vaibhav Srivastava
Department of Electrical & Computer Engineering
Michigan State University
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Rodrigues Formula
Given a unit-length rotation axis and angle, what is the corresponding rotation
matrix?
Theorem (Rodriguess Formula): Given a unit-length rotation axis n and
angle [0, ), there exists a unique rotation matrix, denoted by Rotn (), representing
a rotation about n by an angle and it is given by
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Rodrigues Formula
Given a unit-length rotation axis and angle, what is the corresponding rotation
matrix? 7.3. Parametrization of rotation matrices
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Inverse Rodrigues Formula
Given a rotation matrix R, what is the rotation angle and the corresponding
axis of rotation n?
Theorem (Inverse Rodriguess Formula): Given an arbitrary rotation matrix R,
consider the Rodrigues formula in the two variables (, n), where is the angle of
rotation in [0, ) and n is the unit-length axis of rotation:
(i) if R = I3 , then there exists an infinite number of solutions defined by = 0 and
arbitrary axis of rotation n
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Inverse Rodrigues Formula
Given a rotation matrix R, what is the rotation angle and the corresponding
axis of rotation n?
Theorem (Inverse Rodriguess Formula): Given an arbitrary rotation matrix R,
consider the Rodrigues formula in the two variables (, n), where is the angle of
rotation in [0, ) and n is the unit-length axis of rotation:
(i) if R = I3 , then there exists an infinite number of solutions defined by = 0 and
arbitrary axis of rotation n
= arccos((trace(R) 1)/2),
1
n= (R R > )
2 sin
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Inverse Rodrigues Formula
Given a rotation matrix R, what is the rotation angle and the corresponding
axis of rotation n?
Theorem (Inverse Rodriguess Formula): Given an arbitrary rotation matrix R,
consider the Rodrigues formula in the two variables (, n), where is the angle of
rotation in [0, ) and n is the unit-length axis of rotation:
(i) if R = I3 , then there exists an infinite number of solutions defined by = 0 and
arbitrary axis of rotation n
= arccos((trace(R) 1)/2),
1
n= (R R > )
2 sin
(iii) if trace(R) >= 1, then there exists two solutions defined by = and
n1 = n2 such that nn> = (R + I3 )/2
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Inverse Rodrigues Formula Example
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Inverse Rodrigues Formula Example
2
= arccos((trace(R) 1)/2) = arccos( 1/2) = ,
3
2 3_ 2 3
0 1 1 1
1 T _ 1 4 5 1 4 5
n= (R R ) = p 1 0 1 =p 1 .
2 sin() 2 3/2 3 1
1 1 0
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Proof of Rodrigues Formula
ematics, v0.91(e) (11 Apr 2016). Chapter 7, slide 288
n p0
O
ugh p and q is orthogonal to n and has its center on line through n at the point (n p0 )n.
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Proof of Rodrigues Formula
ematics, v0.91(e) (11 Apr 2016). Chapter 7, slide 288
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Proof of Inverse Rodrigues Formula I
trace(R) = trace(S > Rotz ()S) = trace(SS > Rotz ()) = trace(Rotz ())
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Proof of Inverse Rodrigues Formula II
R = I3 + 2n2 = I3 + 2nn> ,
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